文档介绍：哈尔滨工业大学硕士学位论文仿人型残疾人假手机构及控制的研究姓名:贾文敏申请学位级别:硕士专业:机械电子工程指导教师:蔡鹤皋 20050601 哈尔滨工业大学工学硕士学位论文摘要仿人型残疾人假手的研究是为了改善残疾人的生活条件和促进社会康复事业的发展,这项研究已经成为生物医学工程及机器人学科的一个热点方向。重量轻、体积小、可靠性高、控制简单和操作灵活是多自由度假手的发展趋势。本文将欠驱动原理和耦合原理引入到假手的机构设计中,以解决假手的复杂性和灵活性之间的矛盾,在保证假手重量轻、体积小的同时,使假手具有很好的操作性能。本文首先综述国内外灵巧手以及假手的发展现状,.分析假手的发展趋势,在此基础上提出基于欠驱动原理和耦合原理的设计方案。其次,以驱动器少和重量轻为目标,采用四连杆机构实现手指的欠驱动和耦合;设计基于扭转弹簧、带轮和齿轮减速的手指驱动机构,使假手具有很好的灵活性;为了实现抓握不同物体的有效性,通过仿真实验,给出拇指的布置位置;采用基于霍尔效应的集成霍尔位置传感器,实现手指基关节位置的非接触测量:设计基于应变测量的基关节力矩传感器及指尖力矩传感器,分别实现基关节力矩和指尖力矩的测量:并基于模块化和集成化的思想设计假手的本体结构,实现假手机构、传感、驱动和微处理器系统的集成。建立假手欠驱动拇指的静力学模型,给出抓握不同物体时驱动力矩和各指节受力之间的关系,对拇指抓握物体时的稳定性进行分析。进行手指连杆机构运动学分析,完成手指耦合四连杆的参数设计,确定连杆机构的参数。最后,采用基于位置的阻抗控制方法,实现手指的柔顺控制,并且用实验验证假手控制方法的可行性和有效性。关键词假手:欠驱动:耦合;阻抗控制哈尔滨T业大学T学硕士学位论文 Abstract To improve theliving situation ofthedisabled and thedevelopment oftheir convalescence affairs,humanoid prosthetic hand have e one ofthemost significant fieldsofbiomedical engineering and purpose ofthis research is tOinvent amulti-degrees prosthetic hand with low—weight,small- volume,high—reliability,easy control algorithm and satisfactory manipulative paper introduces all innovative underactuation theory and coupling resolves thecontradiction between multi-DOF and dexterity ofprosthetic thepremise oflow—weight and small-volume,the hand is alsodexterous enough. Firstofall,thepaper carry out an extensive research on thestate—of-the-art development ofdexterous hand and prosthetichand,and analyze thedeveloping trend of prosthetic on this study,a design scheme based on underactuation theory and coupling theory isput forward. Secondly,on thepremise of a few drivers and low-weight,four-linkage structure isused plish underactuation and coupling offinger;driving mechanism which isdesigned based on torque spring,belt wheel and gear reducer make sure thedexterity ofprosthetic hand;simulation experiments of grasping objects with various figures pleted tofixtheposition ofthumb; integrated Hall sensor